Whole body locomotion planning of humanoid robots based on a 3D grid map

Fumio Kanehiro, Takashi Yoshimi, Shuuji Kajita, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kensuke Harada, Kenji Kaneko, Hirohisa Hirukawa, Fumiaki Tomita

研究成果: Conference contribution

48 被引用数 (Scopus)

抄録

This paper proposes a method for a humanoid robot to generate 3D model of the environment using a stereo vision, find a movable space using it and plan feasible locomotion online. The model is generated by an accumulation of 3D grid maps which are made from the range data of the field of view obtained by a correlation based stereo vision. The locomotion is planned by an online whole body pattern generator which can modify robot's waist height, an upper body posture and so on according to the size of the movable space.

本文言語English
ホスト出版物のタイトルProceedings of the 2005 IEEE International Conference on Robotics and Automation
ページ1072-1078
ページ数7
DOI
出版ステータスPublished - 2005 12 1
外部発表はい
イベント2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
継続期間: 2005 4 182005 4 22

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2005
ISSN(印刷版)1050-4729

Conference

Conference2005 IEEE International Conference on Robotics and Automation
国/地域Spain
CityBarcelona
Period05/4/1805/4/22

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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